
export PYTHONPATH=/home/dm/ydw/humanplus/HIT
# Fold Clothes task
python imitate_episodes_h1_train.py --task_name data_fold_clothes --ckpt_dir fold_clothes/ --policy_class HIT --chunk_size 50 --hidden_dim 512 --batch_size 48 --dim_feedforward 512 --lr 1e-5 --seed 0 --num_steps 100000 --eval_every 100000 --validate_every 1000 --save_every 10000 --no_encoder --backbone resnet18 --same_backbones --use_pos_embd_image 1 --use_pos_embd_action 1 --dec_layers 6 --gpu_id 0 --feature_loss_weight 0.005 --use_mask --data_aug 


# eval
# python imitate_episodes_h1_train.py --task_name data_fold_clothes --ckpt_dir fold_clothes/_data_fold_clothes_HIT_resnet18_True --policy_class HIT --eval